/*
 * @FilePath: rx_ops9_node.hpp
 * @Author: wyx
 * @Date: 2023-09-30 21:56:08
 * @LastEditors: Please set LastEditors
 * @LastEditTime: 2023-09-30 22:00:20
 * Copyright: 2023 xxxTech CO.,LTD. All Rights Reserved.
 * @Descripttion: 
 */
#pragma once
#ifndef __RX_OPS9_NODE_HPP_
#define __RX_OPS9_NODE_HPP_

#include<rclcpp/rclcpp.hpp>
#include <sys/types.h>
#include <sys/stat.h>
#include <sys/time.h>
#include <signal.h>
#include <poll.h>
#include <fstream>
#include <string>
#include <string.h>
#include <time.h>
#include <stdio.h>
#include <memory>
#include<mcu_pack/user_inc.h>
#include<mcu_pack/commSerial.hpp>
#include"base_interface/msg/ops.hpp"
#include"base_interface/usr_text_output.hpp"
//#include<base_interface/msg/cv_data.hpp>
#define RX_PPS_DATA_LEN 52

class ppsCommSerial
{
private:
    /* data */
    struct termios termAttr;
    struct sigaction saio;
    int ifSerial = 0;
    const char *this_port;
    uint32_t this_baudrate;
    int handle;
public:
    int pps_Init(int &fd, char *port, int baudrate);
   
    void RestartPos(int fd);//定位系统清零
};

#endif

